            [angelic [env :as env] [hierarchy :as hierarchy] [sas :as sas]]
            [angelic.search.textbook :as textbook]
            [angelic.domains.discrete-manipulation :as dm]
+           [angelic.domains.nav-switch :as ns]           
            [angelic.search.implicit
             [ah-astar :as aha]
             [sahtn :as sahtn]



(def alg-forms
     {:sahtn   (fn [m] `(sahtn/sahtn ~'init #{:nav :reach :discretem-tla}))
      :aha*    (fn [m] `(aha/ah-a* ~'init true))
      :dash-a* (fn [m] `(dao/implicit-dash-a*-opt ~'init :gather true :d true :s :eager :dir :right
                                                  :choice-fn rand-nth))})

  (experiments/make-experiment-set "11aaai-dm"
    [:product
     [:objects [1 2 3 4 5 6]]
     [:alg     (keys alg-forms)]
     [:rand    [0 1 2 3 4]]]
    (fn [m]
      `(dm/make-discrete-manipulation-hierarchy
        (dm/make-random-hard-discrete-manipulation-env ~(:objects m) ~(:rand m))))
    (fn [m] ((util/safe-get alg-forms (:alg m)) m))
    'angelic.scripts.experiments-11aaai 10 3600 1024 false ::ExpResult))

(defn make-dm-lama-exp-set []
  (experiments/make-experiment-set "11aaai-dm-lama"
